¿Should I say "couldn't" or "didn't can"?
To express the negative form of the past tense of "can" should I say "couldn't/could not" or "didn't can/did not can"?. I'm using "can" as an Action Verb, not a Modal Verb.

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you should say "couldn't/ could not"
"didn't can/ did not can" does not make sense.

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Yes, it is always couldn’t/could not

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Just for future reference, in English, 'can' only exists as a modal verb. It cannot ever be used as a lexical verb.

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Couldn't or could not.